The Architecture and Body of FUWA Developmental Humanoid

摘要

FUWA is a developmental humanoid built in the Embodied Intelligence Laboratory at Fudan University. The body of the robot is designed and manufactured by the researchers, but the actual sensorimotor association is developed autonomously from its own experience. For FUWA, no task is given during the programming time. It learns while performing. In this paper, key issues in designing the architecture and the body of FUWA are discussed. A learning-based approach is performed on line by the mobile robot in real-time.